Estimation and control for a modular wheeled mobile robot
- 1 January 2000
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Control Systems Technology
- Vol. 8 (1), 35-46
- https://doi.org/10.1109/87.817690
Abstract
In this paper the problem of fully decentralized data fusion and control for a modular wheeled mobile robot (WMR) is addressed. This is a vehicle system with nonlinear kinematics, distributed multiple sensors, and nonlinear sensor models. The problem is solved by applying fully decentralized estimation and control algorithms based on the extended information filter. This is achieved by deriving a modular, decentralized kinematic model by using plane motion kinematics to obtain the forward and inverse kinematics for a generalized simple wheeled vehicle. This model is then used in the decentralized estimation and control algorithms. WMR estimation and control is thus obtained locally using reduced order models with reduced communication requirements, in a scalable network of control nodes. If communication of information between nodes is carried out after every measurement (full rate communication), the estimates and control signals obtained at each node are equivalent to those obtained by a corresponding centralized system. Transputer architecture is used as the basis for hardware and software design as it supports the extensive communication and concurrence requirements which characterize modular and decentralized systems, The advantages of a modular WMR vehicle include scalability, application flexibility, low prototyping costs and high reliability.Keywords
This publication has 9 references indexed in Scilit:
- Decentralized overlapping control of a platoon of vehiclesIEEE Transactions on Control Systems Technology, 2000
- Nonlinear information space: a practical basis for decentralizationPublished by SPIE-Intl Soc Optical Eng ,1994
- Multisensor Fusion for Computer VisionPublished by Springer Science and Business Media LLC ,1993
- Model Distribution in Decentralized Multi-Sensor Data FusionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1991
- Distributed adaptive estimation with probabilistic data associationAutomatica, 1989
- Fusion of Multisensor DataThe International Journal of Robotics Research, 1988
- Decentralized structures for parallel Kalman filteringIEEE Transactions on Automatic Control, 1988
- Computation and transmission requirements for a decentralized linear-quadratic-Gaussian control problemIEEE Transactions on Automatic Control, 1979
- Survey of decentralized control methods for large scale systemsIEEE Transactions on Automatic Control, 1978